Glider dive log

OKMC Feb13 * SG121 * Dive index * Mission links * Dive 184 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 121 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 1975 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 184 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10

D_SURF 3 TGT_DEFAULT_LAT 47.599998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LON -122.3 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_TGT 400 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 49 ALTIM_SENSITIVITY 3

D_ABORT 500 SM_CC 560 R_STBD_OVSHOOT 57 XPDR_VALID 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 2.3

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_PITCH 0 PROTOCOL 9 VBD_MIN 400 DEEPGLIDERMB 0

D_SAFE 0 N_NOCOMM 2 VBD_MAX 3600 MOTHERBOARD 4

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2640 DEVICE1 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 10 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 144 CALL_WAIT 5 PITCH_VBD_SHIFT 0.0024999999 DEVICE5 -1

T_MISSION 160 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_ABORT 190 CAPMAXSIZE 50000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT 5 T_GPS 30 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_CHARGE -100726.05 DBDW 0 COMPASS_DEVICE 97

USE_BATHY -4 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 GPS_DEVICE 32

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 100 MINV_24V 22 SIM_W 0.090000004

APOGEE_PITCH -5 PITCH_MAX 4069 MINV_10V 9.5 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2400 FG_AHR_10V 0 SEABIRD_T_G 0.0042823856

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062054652

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 PHONE_SUPPLY -2 SEABIRD_T_I 2.2746239e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -34.938694 SEABIRD_T_J 2.4072633e-06

RHO 1.0275 PITCH_GAIN 20 PRESSURE_SLOPE 9.0818496e-05 SEABIRD_C_G -9.8275757

MASS 51800 PITCH_TIMEOUT 15 AD7714Ch0Gain 128 SEABIRD_C_H 1.1041691

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015209455

FERRY_MAX 40 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00020302966

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

HD_A 0.0056599998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

HD_B 0.0135 ROLL_MIN 526 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_C 6.2300001e-06 ROLL_MAX 3878 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 1000 PITCH_ADJ_DBAND 0 SIM_PITCH 0

AH0_10V 100 D_PITCH 0 PITCH_ADJ_GAIN 0 SIM_W 0.090000004

AH0_24V 150 D_SAFE 0 PITCH_AD_RATE 145 SM_CC 560

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_CNV 0.0046000001 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 400 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4069 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FERRY_MAX 40 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MIN 100 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0024999999 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_GAIN 0 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GPS_DEVICE 32 PRESSURE_SLOPE 9.0818496e-05 T_ABORT 190

CALL_NDIVES 1 HD_A 0.0056599998 PRESSURE_YINT -34.938694 T_BOOST 5

CALL_TRIES 10 HD_B 0.0135 PROTOCOL 9 T_DIVE 144

CALL_WAIT 5 HD_C 6.2300001e-06 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 50000 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS 30

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -100726.05

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COMPASS2_DEVICE -1 ID 121 RELAUNCH 1 T_MISSION 160

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.3 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE1 53 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2300 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 1975 LOGGERDEVICE3 -1 ROLL_DEG 40 UNCOM_BLEED 20

C_VBD 2640 LOGGERDEVICE4 -1 ROLL_MAX 3878 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_MAXERRORS 1 USE_BATHY -4

DEEPGLIDER 0 MASS 51800 ROLL_MIN 526 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MINV_10V 9.5 R_PORT_OVSHOOT 49 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 22 R_STBD_OVSHOOT 57 VBD_DBAND 2

DEVICE3 -1 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3600

DEVICE4 -1 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DEVICE5 -1 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 400

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_G -9.8275757 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 184 N_DIVES 0 SEABIRD_C_H 1.1041691 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 500 N_FILEKB 4 SEABIRD_C_I -0.0015209455 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_C_J 0.00020302966 W_ADJ_DBAND 0

D_CALL 0 N_NOCOMM 2 SEABIRD_T_G 0.0042823856 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_H 0.00062054652 XPDR_INHIBIT 90

D_FLARE 3 PHONE_DEVICE 48 SEABIRD_T_I 2.2746239e-05 XPDR_VALID 0

D_NO_BLEED 200 PHONE_SUPPLY -2 SEABIRD_T_J 2.4072633e-06

Pre-dive calculations and measurements:

GPS1 240313,111222,2023.590,12002.607,37,0.9,37,-2.7 TGT_NAME W2A

_CALLS 1 TGT_LATLONG 2145.000,12000.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -23.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240313,111913,2023.583,12002.558,17,1.5,17,-2.7 MHEAD_RNG_PITCHd_Wd 41.0,150849,-18.5,-9.259,-21.12,2828

SPEED_LIMITS 0.160,0.240 D_GRID 3421

Post-dive calculations and measurements:

FINISH 0.0,1.024164 _10V_AH 10.2,17.057

SM_CCo 9178,0.03,0.286,0,0,401,549.47 FG_AHR_24Vo 0.000

SM_GC -23.93,7.45,0.52,0.03,0.069,0.035,0.286,80,1962,401,-10.57,1.19,549.47,0,0,0,0,0,0,26.40,26.43,25.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2015.67,12003.80,240313,080825 MEM 323884

TT8_MAMPS 0.024717,0.024717 DATA_FILE_SIZE 20105,525

HUMID 47.51 CAP_FILE_SIZE 411924,2045

INTERNAL_PRESSURE 9.1948 CFSIZE 260034560,229863424

TCM_TEMP 20.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

XPDR_PINGS 0 CURRENT 0.132,321.6,1

SC_FREEKB 3952512 GPS 240313,135336,2024.853,12002.653,17,1.6,17,-2.7

_24V_AH 24.3,31.228

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 209 87.23 nil 0 0 0.00

Roll_motor 60 55 80.78 nil 0 0 0.00

VBD_pump_during_apogee 421 1029 10556.56 nil 0 0 0.00

VBD_pump_during_surface 196 667 3195.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8959 5 1200.20

Iridium_during_xfer 228 136 760.01 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 29 5.80

TT8 2012 14 296.80

LPSleep 4891 2 109.26

TT8_Active 726 14 107.19

TT8_Sampling 1575 39 629.45

TT8_CF8 363 46 173.10

TT8_Kalman 0 0 0.00

Analog_circuits 1765 15 279.06

GPS_charging 0 0 0.00

Compass 1345 7 102.82

RAFOS 0 0 0.00

Transponder 1 5 0.08

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.35 -170.3 87 1940 330 472 0.0 0.0 0 43 0.00 0.00 -23.17 0.000 16386 0.000 0.000 86 1940 1005 994 1017 0 0 0 0 0 0 28.83 28.83 28.83

46 -1.35 -170.3 87 1939 994 1020 3.1 -9.0 3 162 7.78 2.20 -98.28 0.000 18948 0.210 0.055 2108 575 3337 3244 3431 0 0 0 0 0 0 25.82 26.17 26.47

251 -1.35 -170.3 1248 575 3220 3427 21.7 -8.7 34 259 0.00 2.05 0.00 0.000 1030 0.000 0.015 2100 1988 3339 3248 3431 0 0 0 0 0 0 28.83 26.32 28.83

570 -1.35 -170.3 2100 1990 3250 3431 50.3 -9.1 68 576 0.00 2.05 0.00 0.000 260 0.000 0.031 2090 3369 3340 3250 3431 0 0 0 0 0 0 28.83 26.43 28.83

720 -1.35 -170.3 2089 3369 3251 3431 63.8 -9.0 75 726 0.00 2.10 0.00 0.000 1030 0.000 0.024 2097 1969 3341 3252 3431 0 0 0 0 0 0 28.83 26.50 28.83

1046 -1.35 -170.3 2096 1968 3254 3430 92.9 -9.0 91 1052 0.00 2.12 0.00 0.000 516 0.000 0.040 2106 567 3342 3255 3430 0 0 0 0 0 0 28.83 26.53 28.83

1133 -1.35 -170.3 2105 567 3255 3430 100.8 -8.9 95 1139 0.00 2.03 0.00 0.000 1030 0.000 0.015 2098 1977 3342 3255 3430 0 0 0 0 0 0 28.83 26.63 28.83

1460 -1.35 -170.3 2098 1978 3255 3431 129.7 -9.0 111 1461 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 1978 3343 3255 3431 0 0 0 0 0 0 28.83 28.83 28.83

1759 -1.35 -170.3 2098 1978 3254 3430 156.8 -9.0 126 1766 0.00 2.15 0.00 0.000 516 0.000 0.038 2106 571 3342 3255 3429 0 0 0 0 0 0 28.83 26.60 28.83

1811 -1.35 -170.3 2107 571 3254 3429 161.1 -8.9 128 1817 0.00 2.03 0.00 0.000 1030 0.000 0.015 2098 1975 3342 3254 3430 0 0 0 0 0 0 28.83 26.68 28.83

2131 -1.35 -170.3 2097 1975 3254 3427 190.3 -9.0 144 2137 0.00 2.05 0.00 0.000 260 0.000 0.031 2087 3363 3340 3254 3426 0 0 0 0 0 0 28.83 26.63 28.83

2171 -1.35 -170.3 1280 3362 3229 3422 192.5 -9.0 145 2179 0.00 2.08 0.00 0.000 1030 0.000 0.026 2088 1971 3340 3254 3426 0 0 0 0 0 0 28.83 26.65 28.83

2477 -1.35 -170.3 2087 1971 3254 3423 222.3 -9.4 161 2478 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1971 3338 3254 3423 0 0 0 0 0 0 28.83 28.83 28.83

2779 -1.35 -170.3 2087 1971 3254 3421 249.6 -9.2 176 2780 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1971 3337 3254 3421 0 0 0 0 0 0 28.83 28.83 28.83

3078 -1.35 -170.3 2087 1971 3254 3416 276.6 -9.2 191 3080 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 1971 3335 3254 3416 0 0 0 0 0 0 28.83 28.83 28.83

3379 -1.35 -170.3 2087 1971 3253 3413 304.1 -9.1 206 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 1971 3333 3253 3413 0 0 0 0 0 0 28.83 28.83 28.83

3679 -1.35 -170.3 2087 1971 3252 3410 330.6 -9.3 221 3685 0.00 2.15 0.00 0.000 516 0.000 0.044 2098 571 3331 3252 3410 0 0 0 0 0 0 28.83 26.62 28.83

3806 -1.35 -170.3 1264 571 3223 3406 342.1 -9.2 227 3812 0.00 2.05 0.00 0.000 1030 0.000 0.017 2089 1982 3329 3250 3409 0 0 0 0 0 0 28.83 26.71 28.83

4133 -1.35 -170.3 2089 1983 3248 3407 371.1 -8.7 243 4138 0.00 2.20 0.00 0.000 516 0.000 0.043 2097 568 3327 3248 3407 0 0 0 0 0 0 28.83 26.61 28.83

4211 -1.35 -170.3 2097 568 3248 3407 377.5 -9.1 246 4217 0.00 2.05 0.00 0.000 1030 0.000 0.017 2089 1984 3327 3248 3406 0 0 0 0 0 0 28.83 26.70 28.83

4464 end dive: TARGET_DEPTH_EXCEEDED

state 4464 begin apogee

4470 -0.25 0.0 2086 2304 3245 3404 401.3 -8.9 259 4630 0.80 0.00 148.25 1.030 10246 0.117 0.000 2348 2304 2640 2591 2689 0 0 0 0 1 0 26.45 28.83 24.28

4632 end apogee: CONTROL_FINISHED_OK

state 4632 begin climb

4633 1.35 170.3 2348 2304 2591 2689 386.9 0.0 266 4795 1.00 2.30 152.48 0.871 10500 0.056 0.033 2706 3686 1937 1905 1970 0 0 0 0 0 0 25.17 24.97 24.30

5005 1.37 177.4 2705 3686 1902 1947 353.8 9.0 282 5013 0.00 2.12 0.00 0.000 1030 0.000 0.024 2716 2310 1924 1902 1947 0 0 0 0 0 0 28.83 25.95 28.83

5312 1.37 178.6 2715 2310 1902 1944 324.6 9.2 298 5315 0.00 0.00 1.42 0.058 8198 0.000 0.000 2716 2311 1910 1887 1933 0 0 0 0 0 0 28.83 28.83 26.16

5611 1.39 184.6 2715 2310 1887 1939 297.5 9.0 313 5623 0.00 0.00 9.95 0.782 8198 0.000 0.000 2715 2310 1886 1861 1911 0 0 0 0 0 0 28.83 28.83 25.52

5913 1.40 188.2 2715 2310 1857 1900 270.4 9.1 328 5919 0.00 2.12 0.00 0.000 260 0.000 0.032 2716 3693 1878 1857 1900 0 0 0 0 0 0 28.83 26.40 28.83

5942 1.40 188.5 2715 3693 1857 1900 268.1 9.3 329 5948 0.00 2.12 0.00 0.000 1030 0.000 0.025 2725 2298 1878 1857 1900 0 0 0 0 0 0 28.83 26.43 28.83

6263 1.42 197.0 2725 2297 1857 1898 240.7 9.0 345 6282 0.00 0.00 12.38 0.737 8198 0.000 0.000 2725 2297 1831 1805 1858 0 0 0 0 0 0 28.83 28.83 25.62

6583 1.44 203.9 2725 2297 1804 1851 212.3 9.0 361 6594 0.00 2.22 6.03 0.711 8452 0.000 0.033 2726 3691 1808 1782 1835 0 0 0 0 0 0 28.83 26.36 25.59

6701 1.47 217.4 2725 3691 1780 1832 202.6 8.8 366 6725 0.00 2.12 15.15 0.712 9222 0.000 0.025 2736 2295 1747 1717 1778 0 0 0 0 0 0 28.83 26.41 25.53

7039 1.47 219.1 2735 2294 1716 1771 171.3 9.2 383 7045 0.00 2.15 0.00 0.000 260 0.000 0.034 2736 3687 1743 1716 1771 0 0 0 0 0 0 28.83 26.38 28.83

7110 1.50 228.7 2735 3687 1716 1770 165.4 8.9 386 7128 0.00 2.12 10.85 0.682 9222 0.000 0.026 2746 2290 1703 1671 1735 0 0 0 0 0 0 28.83 26.42 25.60

7426 1.52 238.5 2745 2290 1668 1729 137.0 8.9 402 7443 0.00 2.20 9.75 0.655 8708 0.000 0.042 2756 896 1660 1622 1698 0 0 0 0 0 0 28.83 26.27 25.63

7473 1.55 249.9 2756 896 1619 1698 132.9 8.8 404 7490 0.00 2.08 11.15 0.646 9222 0.000 0.017 2756 2296 1617 1571 1664 0 0 0 0 0 0 28.83 26.36 25.54

7800 1.56 251.4 2756 2296 1567 1657 103.5 9.2 420 7806 0.00 2.12 0.00 0.000 260 0.000 0.035 2756 3694 1612 1567 1657 0 0 0 0 0 0 28.83 26.36 28.83

7870 1.57 256.9 1760 3693 1531 1650 97.5 9.1 423 7882 0.10 2.12 5.03 0.598 13318 0.198 0.027 2745 2299 1591 1542 1641 0 0 0 0 0 0 26.20 26.41 25.55

8192 1.59 266.8 2745 2299 1542 1641 68.2 8.9 439 8207 0.00 0.00 12.00 0.579 8710 0.000 0.000 2745 2300 1548 1496 1601 0 0 0 0 0 0 28.83 28.83 25.70

8516 1.62 278.2 2745 2299 1494 1595 39.0 8.8 461 8535 0.00 2.20 11.23 0.551 8708 0.000 0.044 2755 896 1501 1449 1554 0 0 0 0 0 0 28.83 26.30 25.71

8663 1.66 294.8 2756 896 1448 1549 25.8 8.7 474 8684 0.00 2.08 16.25 0.529 9222 0.000 0.018 2755 2304 1435 1387 1483 0 0 0 0 0 0 28.83 26.44 25.65

8919 end climb: SURFACE_DEPTH_REACHED

state 8919 begin surface coast

8953 end surface coast: CONTROL_FINISHED_OK

state 8953 begin surface

ID	121	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	1975	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	184	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10
D_SURF	3	TGT_DEFAULT_LAT	47.599998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LON	-122.3	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_TGT	400	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	49	ALTIM_SENSITIVITY	3
D_ABORT	500	SM_CC	560	R_STBD_OVSHOOT	57	XPDR_VALID	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	2.3
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_PITCH	0	PROTOCOL	9	VBD_MIN	400	DEEPGLIDERMB	0
D_SAFE	0	N_NOCOMM	2	VBD_MAX	3600	MOTHERBOARD	4
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2640	DEVICE1	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	10	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	144	CALL_WAIT	5	PITCH_VBD_SHIFT	0.0024999999	DEVICE5	-1
T_MISSION	160	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_ABORT	190	CAPMAXSIZE	50000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	5	T_GPS	30	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_CHARGE	-100726.05	DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-4	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	GPS_DEVICE	32
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	100	MINV_24V	22	SIM_W	0.090000004
APOGEE_PITCH	-5	PITCH_MAX	4069	MINV_10V	9.5	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2400	FG_AHR_10V	0	SEABIRD_T_G	0.0042823856
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062054652
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2746239e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-34.938694	SEABIRD_T_J	2.4072633e-06
RHO	1.0275	PITCH_GAIN	20	PRESSURE_SLOPE	9.0818496e-05	SEABIRD_C_G	-9.8275757
MASS	51800	PITCH_TIMEOUT	15	AD7714Ch0Gain	128	SEABIRD_C_H	1.1041691
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015209455
FERRY_MAX	40	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00020302966
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
HD_A	0.0056599998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
HD_B	0.0135	ROLL_MIN	526	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_C	6.2300001e-06	ROLL_MAX	3878	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	240313,111222,2023.590,12002.607,37,0.9,37,-2.7	TGT_NAME	W2A
_CALLS	1	TGT_LATLONG	2145.000,12000.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-23.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240313,111913,2023.583,12002.558,17,1.5,17,-2.7	MHEAD_RNG_PITCHd_Wd	41.0,150849,-18.5,-9.259,-21.12,2828
SPEED_LIMITS	0.160,0.240	D_GRID	3421

FINISH	0.0,1.024164	_10V_AH	10.2,17.057
SM_CCo	9178,0.03,0.286,0,0,401,549.47	FG_AHR_24Vo	0.000
SM_GC	-23.93,7.45,0.52,0.03,0.069,0.035,0.286,80,1962,401,-10.57,1.19,549.47,0,0,0,0,0,0,26.40,26.43,25.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2015.67,12003.80,240313,080825	MEM	323884
TT8_MAMPS	0.024717,0.024717	DATA_FILE_SIZE	20105,525
HUMID	47.51	CAP_FILE_SIZE	411924,2045
INTERNAL_PRESSURE	9.1948	CFSIZE	260034560,229863424
TCM_TEMP	20.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS	0	CURRENT	0.132,321.6,1
SC_FREEKB	3952512	GPS	240313,135336,2024.853,12002.653,17,1.6,17,-2.7
_24V_AH	24.3,31.228

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	209	87.23	nil	0	0	0.00
Roll_motor	60	55	80.78	nil	0	0	0.00
VBD_pump_during_apogee	421	1029	10556.56	nil	0	0	0.00
VBD_pump_during_surface	196	667	3195.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8959	5	1200.20
Iridium_during_xfer	228	136	760.01	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	29	5.80
TT8	2012	14	296.80
LPSleep	4891	2	109.26
TT8_Active	726	14	107.19
TT8_Sampling	1575	39	629.45
TT8_CF8	363	46	173.10
TT8_Kalman	0	0	0.00
Analog_circuits	1765	15	279.06
GPS_charging	0	0	0.00
Compass	1345	7	102.82
RAFOS	0	0	0.00
Transponder	1	5	0.08

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.35	-170.3	87	1940	330	472	0.0	0.0	0	43	0.00	0.00	-23.17	0.000	16386	0.000	0.000	86	1940	1005	994	1017	0	0	0	0	0	0	28.83	28.83	28.83
46	-1.35	-170.3	87	1939	994	1020	3.1	-9.0	3	162	7.78	2.20	-98.28	0.000	18948	0.210	0.055	2108	575	3337	3244	3431	0	0	0	0	0	0	25.82	26.17	26.47
251	-1.35	-170.3	1248	575	3220	3427	21.7	-8.7	34	259	0.00	2.05	0.00	0.000	1030	0.000	0.015	2100	1988	3339	3248	3431	0	0	0	0	0	0	28.83	26.32	28.83
570	-1.35	-170.3	2100	1990	3250	3431	50.3	-9.1	68	576	0.00	2.05	0.00	0.000	260	0.000	0.031	2090	3369	3340	3250	3431	0	0	0	0	0	0	28.83	26.43	28.83
720	-1.35	-170.3	2089	3369	3251	3431	63.8	-9.0	75	726	0.00	2.10	0.00	0.000	1030	0.000	0.024	2097	1969	3341	3252	3431	0	0	0	0	0	0	28.83	26.50	28.83
1046	-1.35	-170.3	2096	1968	3254	3430	92.9	-9.0	91	1052	0.00	2.12	0.00	0.000	516	0.000	0.040	2106	567	3342	3255	3430	0	0	0	0	0	0	28.83	26.53	28.83
1133	-1.35	-170.3	2105	567	3255	3430	100.8	-8.9	95	1139	0.00	2.03	0.00	0.000	1030	0.000	0.015	2098	1977	3342	3255	3430	0	0	0	0	0	0	28.83	26.63	28.83
1460	-1.35	-170.3	2098	1978	3255	3431	129.7	-9.0	111	1461	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	1978	3343	3255	3431	0	0	0	0	0	0	28.83	28.83	28.83
1759	-1.35	-170.3	2098	1978	3254	3430	156.8	-9.0	126	1766	0.00	2.15	0.00	0.000	516	0.000	0.038	2106	571	3342	3255	3429	0	0	0	0	0	0	28.83	26.60	28.83
1811	-1.35	-170.3	2107	571	3254	3429	161.1	-8.9	128	1817	0.00	2.03	0.00	0.000	1030	0.000	0.015	2098	1975	3342	3254	3430	0	0	0	0	0	0	28.83	26.68	28.83
2131	-1.35	-170.3	2097	1975	3254	3427	190.3	-9.0	144	2137	0.00	2.05	0.00	0.000	260	0.000	0.031	2087	3363	3340	3254	3426	0	0	0	0	0	0	28.83	26.63	28.83
2171	-1.35	-170.3	1280	3362	3229	3422	192.5	-9.0	145	2179	0.00	2.08	0.00	0.000	1030	0.000	0.026	2088	1971	3340	3254	3426	0	0	0	0	0	0	28.83	26.65	28.83
2477	-1.35	-170.3	2087	1971	3254	3423	222.3	-9.4	161	2478	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1971	3338	3254	3423	0	0	0	0	0	0	28.83	28.83	28.83
2779	-1.35	-170.3	2087	1971	3254	3421	249.6	-9.2	176	2780	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1971	3337	3254	3421	0	0	0	0	0	0	28.83	28.83	28.83
3078	-1.35	-170.3	2087	1971	3254	3416	276.6	-9.2	191	3080	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	1971	3335	3254	3416	0	0	0	0	0	0	28.83	28.83	28.83
3379	-1.35	-170.3	2087	1971	3253	3413	304.1	-9.1	206	3380	0.00	0.00	0.00	0.000	6	0.000	0.000	2087	1971	3333	3253	3413	0	0	0	0	0	0	28.83	28.83	28.83
3679	-1.35	-170.3	2087	1971	3252	3410	330.6	-9.3	221	3685	0.00	2.15	0.00	0.000	516	0.000	0.044	2098	571	3331	3252	3410	0	0	0	0	0	0	28.83	26.62	28.83
3806	-1.35	-170.3	1264	571	3223	3406	342.1	-9.2	227	3812	0.00	2.05	0.00	0.000	1030	0.000	0.017	2089	1982	3329	3250	3409	0	0	0	0	0	0	28.83	26.71	28.83
4133	-1.35	-170.3	2089	1983	3248	3407	371.1	-8.7	243	4138	0.00	2.20	0.00	0.000	516	0.000	0.043	2097	568	3327	3248	3407	0	0	0	0	0	0	28.83	26.61	28.83
4211	-1.35	-170.3	2097	568	3248	3407	377.5	-9.1	246	4217	0.00	2.05	0.00	0.000	1030	0.000	0.017	2089	1984	3327	3248	3406	0	0	0	0	0	0	28.83	26.70	28.83
4464	end dive: TARGET_DEPTH_EXCEEDED
state	4464	begin apogee
4470	-0.25	0.0	2086	2304	3245	3404	401.3	-8.9	259	4630	0.80	0.00	148.25	1.030	10246	0.117	0.000	2348	2304	2640	2591	2689	0	0	0	0	1	0	26.45	28.83	24.28
4632	end apogee: CONTROL_FINISHED_OK
state	4632	begin climb
4633	1.35	170.3	2348	2304	2591	2689	386.9	0.0	266	4795	1.00	2.30	152.48	0.871	10500	0.056	0.033	2706	3686	1937	1905	1970	0	0	0	0	0	0	25.17	24.97	24.30
5005	1.37	177.4	2705	3686	1902	1947	353.8	9.0	282	5013	0.00	2.12	0.00	0.000	1030	0.000	0.024	2716	2310	1924	1902	1947	0	0	0	0	0	0	28.83	25.95	28.83
5312	1.37	178.6	2715	2310	1902	1944	324.6	9.2	298	5315	0.00	0.00	1.42	0.058	8198	0.000	0.000	2716	2311	1910	1887	1933	0	0	0	0	0	0	28.83	28.83	26.16
5611	1.39	184.6	2715	2310	1887	1939	297.5	9.0	313	5623	0.00	0.00	9.95	0.782	8198	0.000	0.000	2715	2310	1886	1861	1911	0	0	0	0	0	0	28.83	28.83	25.52
5913	1.40	188.2	2715	2310	1857	1900	270.4	9.1	328	5919	0.00	2.12	0.00	0.000	260	0.000	0.032	2716	3693	1878	1857	1900	0	0	0	0	0	0	28.83	26.40	28.83
5942	1.40	188.5	2715	3693	1857	1900	268.1	9.3	329	5948	0.00	2.12	0.00	0.000	1030	0.000	0.025	2725	2298	1878	1857	1900	0	0	0	0	0	0	28.83	26.43	28.83
6263	1.42	197.0	2725	2297	1857	1898	240.7	9.0	345	6282	0.00	0.00	12.38	0.737	8198	0.000	0.000	2725	2297	1831	1805	1858	0	0	0	0	0	0	28.83	28.83	25.62
6583	1.44	203.9	2725	2297	1804	1851	212.3	9.0	361	6594	0.00	2.22	6.03	0.711	8452	0.000	0.033	2726	3691	1808	1782	1835	0	0	0	0	0	0	28.83	26.36	25.59
6701	1.47	217.4	2725	3691	1780	1832	202.6	8.8	366	6725	0.00	2.12	15.15	0.712	9222	0.000	0.025	2736	2295	1747	1717	1778	0	0	0	0	0	0	28.83	26.41	25.53
7039	1.47	219.1	2735	2294	1716	1771	171.3	9.2	383	7045	0.00	2.15	0.00	0.000	260	0.000	0.034	2736	3687	1743	1716	1771	0	0	0	0	0	0	28.83	26.38	28.83
7110	1.50	228.7	2735	3687	1716	1770	165.4	8.9	386	7128	0.00	2.12	10.85	0.682	9222	0.000	0.026	2746	2290	1703	1671	1735	0	0	0	0	0	0	28.83	26.42	25.60
7426	1.52	238.5	2745	2290	1668	1729	137.0	8.9	402	7443	0.00	2.20	9.75	0.655	8708	0.000	0.042	2756	896	1660	1622	1698	0	0	0	0	0	0	28.83	26.27	25.63
7473	1.55	249.9	2756	896	1619	1698	132.9	8.8	404	7490	0.00	2.08	11.15	0.646	9222	0.000	0.017	2756	2296	1617	1571	1664	0	0	0	0	0	0	28.83	26.36	25.54
7800	1.56	251.4	2756	2296	1567	1657	103.5	9.2	420	7806	0.00	2.12	0.00	0.000	260	0.000	0.035	2756	3694	1612	1567	1657	0	0	0	0	0	0	28.83	26.36	28.83
7870	1.57	256.9	1760	3693	1531	1650	97.5	9.1	423	7882	0.10	2.12	5.03	0.598	13318	0.198	0.027	2745	2299	1591	1542	1641	0	0	0	0	0	0	26.20	26.41	25.55
8192	1.59	266.8	2745	2299	1542	1641	68.2	8.9	439	8207	0.00	0.00	12.00	0.579	8710	0.000	0.000	2745	2300	1548	1496	1601	0	0	0	0	0	0	28.83	28.83	25.70
8516	1.62	278.2	2745	2299	1494	1595	39.0	8.8	461	8535	0.00	2.20	11.23	0.551	8708	0.000	0.044	2755	896	1501	1449	1554	0	0	0	0	0	0	28.83	26.30	25.71
8663	1.66	294.8	2756	896	1448	1549	25.8	8.7	474	8684	0.00	2.08	16.25	0.529	9222	0.000	0.018	2755	2304	1435	1387	1483	0	0	0	0	0	0	28.83	26.44	25.65
8919	end climb: SURFACE_DEPTH_REACHED
state	8919	begin surface coast
8953	end surface coast: CONTROL_FINISHED_OK
state	8953	begin surface